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Agents that plan and act in the real world must deal with the fact that timepasses as they are planning. When timing is tight, there may be insufficienttime to complete the search for a plan before it is time to act. By commencingexecution before search concludes, one gains time to search by making planningand execution concurrent. However, this incurs the risk of making incorrectaction choices, especially if actions are irreversible. This tradeoff betweenopportunity and risk is the problem addressed in this paper. Our maincontribution is to formally define this setting as an abstract metareasoningproblem. We find that the abstract problem is intractable. However, we identifyspecial cases that are solvable in polynomial time, develop greedy solutionalgorithms, and, through tests on instances derived from search problems, findseveral methods that achieve promising practical performance. This work laysthe foundation for a principled time-aware executive that concurrently plansand executes.

A Formal Metareasoning Model of Concurrent Planning and Execution